A soft robot with three dimensional shape sensing and force recognition multi-modal sensing via tunable soft optical sensors
Embargo Date
2025-01-15
OA Version
Citation
Abstract
Soft optical sensing strategies are rapidly developing for soft robotic systems. In this thesis, a roughness tuning strategy for the fabrication of soft optical sensors to achieve the triple functionality of shape sensing combined with contact detection and force intensity recognition within a single multi-modal sensor is presented. The integration of these sensors into a fully soft robotic platform is demonstrated. The robot consists of a multi-directional bending module with integrated 3D shape sensing and a gripper with tip position monitoring along with contact force recognition and sensing. This robot is tested in a mock laparoscopic setup to prove the effectiveness to be implemented into minimally invasive medical robotic systems.